ADCP Navigation: SMOOTHR reference_file: a_rb.nav refabs_output: a_rb.ref output: a_rb.sm filter_hwidth= 0.020800 min_filter_fraction= 0.500000 max_gap_ratio= 0.050000 max_gap_distance= 50.000000 max_gap_time= 30.000000 ensemble_time= 300.000000 max_speed= 5.000000 min_speed= 1.000000 iterations= 5 fix_to_dr_limit= 0.000500 Rejected refabs at time 66.493191 with ratio = 0.900164 Rejected refabs at time 82.581009 with ratio = 1.287079 Rejected refabs at time 82.584472 with ratio = 1.287079 Rejected refabs at time 82.587936 with ratio = 1.287079 Rejected refabs at time 82.591399 with ratio = 1.274310 Rejected refabs at time 82.594899 with ratio = 1.287079 Rejected refabs at time 82.598362 with ratio = 1.287079 Rejected refabs at time 82.601825 with ratio = 1.287079 Rejected refabs at time 82.605289 with ratio = 1.274310 Rejected refabs at time 82.608788 with ratio = 1.289663 Rejected refabs at time 82.612248 with ratio = 1.289663 Rejected refabs at time 82.615709 with ratio = 1.274310 Rejected refabs at time 82.619206 with ratio = 1.289663 Rejected refabs at time 82.622665 with ratio = 1.289663 Rejected refabs at time 82.626126 with ratio = 1.276844 Rejected refabs at time 82.629620 with ratio = 1.289663 Rejected refabs at time 82.633079 with ratio = 1.289663 Rejected refabs at time 89.166096 with ratio = 0.199464 Rejected refabs at time 91.569202 with ratio = 0.199503 Rejected refabs at time 99.156210 with ratio = 0.199203 Rejected refabs at time 99.159699 with ratio = 0.201207 Rejected refabs at time 99.163152 with ratio = 0.198413 Rejected refabs at time 99.166650 with ratio = 0.200803 Rejected refabs at time 99.170107 with ratio = 0.199203 Rejected refabs at time 99.173595 with ratio = 0.201207 Rejected refabs at time 99.177049 with ratio = 0.198807 Rejected refabs at time 99.180538 with ratio = 0.201207 Rejected refabs at time 99.183993 with ratio = 0.198807 There are 6 segments for position integration. Optimization iteration 1 of 5 Segment 1 of 6 Time range: 65.99799 to 66.49319 Index range: 1 through 143 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 144 2.109 0.143 0.012 1.855 2.351 -1.78 1.69 1 143 2 144 0.260 0.043 0.004 0.176 0.339 -1.96 1.84 121 22 Segment 2 of 6 Time range: 67.78934 to 82.58101 Index range: 145 through 4404 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4260 679.704 7.260 0.111 672.074 695.405 -1.05 2.16 3465 1 2 4260 -99.097 0.792 0.012 -101.189 -98.039 -2.64 1.33 4257 10 Segment 3 of 6 Time range: 82.63655 to 89.16610 Index range: 4421 through 6301 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1881 672.266 0.223 0.005 672.132 673.158 -0.60 4.01 80 1878 2 1881 -118.629 0.108 0.002 -118.797 -118.261 -1.57 3.43 1877 12 Segment 4 of 6 Time range: 90.45023 to 91.56920 Index range: 6303 through 6625 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 323 1.331 0.035 0.002 1.272 1.403 -1.70 2.04 6 290 2 323 -1.073 0.023 0.001 -1.132 -1.034 -2.53 1.67 292 7 Segment 5 of 6 Time range: 92.97567 to 99.15622 Index range: 6627 through 8406 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1781 3.732 1.535 0.036 1.361 6.892 -1.54 2.06 0 1780 2 1781 -2.828 0.945 0.022 -4.122 -1.034 -1.37 1.90 1699 0 Segment 6 of 6 Time range: 99.18747 to 99.20485 Index range: 8416 through 8420 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 25.274 0.010 0.005 25.259 25.286 -1.50 1.20 1 3 2 5 -2.835 0.003 0.001 -2.839 -2.830 -1.38 1.45 3 1 Optimization iteration 2 of 5 Segment 1 of 6 Time range: 65.99799 to 66.49319 Index range: 1 through 143 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 144 -0.253 0.009 0.001 -0.279 -0.233 -2.89 2.19 134 11 2 144 0.057 0.014 0.001 0.012 0.085 -3.25 2.05 43 26 Segment 2 of 6 Time range: 67.78934 to 82.58101 Index range: 145 through 4404 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4260 5.043 5.084 0.078 -0.409 15.701 -1.07 2.10 3465 1 2 4260 1.031 0.018 0.000 0.980 1.121 -2.83 5.06 4209 1038 Segment 3 of 6 Time range: 82.63655 to 89.16610 Index range: 4421 through 6301 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1881 -0.041 0.106 0.002 -0.132 0.381 -0.86 3.98 80 1878 2 1881 0.351 0.006 0.000 0.320 0.418 -5.12 11.50 1688 1691 Segment 4 of 6 Time range: 90.45023 to 91.56920 Index range: 6303 through 6625 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 323 -0.051 0.005 0.000 -0.073 -0.025 -4.33 5.27 292 290 2 323 0.035 0.005 0.000 0.007 0.063 -5.65 5.75 292 290 Segment 5 of 6 Time range: 92.97567 to 99.15622 Index range: 6627 through 8406 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1781 -2.336 0.051 0.001 -2.389 -2.196 -1.04 2.74 316 1765 2 1781 1.797 0.005 0.000 1.775 1.825 -4.40 5.53 1770 1170 Segment 6 of 6 Time range: 99.18747 to 99.20485 Index range: 8416 through 8420 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 -0.008 0.006 0.003 -0.016 -0.002 -1.29 1.11 2 3 2 5 -0.001 0.003 0.001 -0.005 0.004 -1.42 1.54 3 1 Optimization iteration 3 of 5 Segment 1 of 6 Time range: 65.99799 to 66.49319 Index range: 1 through 143 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 144 -0.002 0.009 0.001 -0.029 0.020 -2.98 2.30 134 11 2 144 -0.000 0.014 0.001 -0.045 0.028 -3.25 2.05 43 26 Segment 2 of 6 Time range: 67.78934 to 82.58101 Index range: 145 through 4404 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4260 10.766 0.053 0.001 10.646 10.841 -2.27 1.42 20 3462 2 4260 0.030 0.007 0.000 -0.032 0.107 -8.44 10.46 1034 1038 Segment 3 of 6 Time range: 82.63655 to 89.16610 Index range: 4421 through 6301 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1881 -0.045 0.005 0.000 -0.091 0.011 -9.10 11.03 80 79 2 1881 0.012 0.004 0.000 -0.019 0.079 -6.98 15.02 1688 1691 Segment 4 of 6 Time range: 90.45023 to 91.56920 Index range: 6303 through 6625 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 323 -0.004 0.005 0.000 -0.029 0.018 -5.28 4.72 292 290 2 323 -0.000 0.005 0.000 -0.028 0.028 -5.66 5.74 292 290 Segment 5 of 6 Time range: 92.97567 to 99.15622 Index range: 6627 through 8406 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1781 -0.121 0.060 0.001 -0.266 -0.027 -2.39 1.56 1770 34 2 1781 -0.001 0.005 0.000 -0.025 0.026 -4.79 5.50 1770 1170 Segment 6 of 6 Time range: 99.18747 to 99.20485 Index range: 8416 through 8420 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 -0.000 0.006 0.003 -0.008 0.006 -1.35 1.10 2 3 2 5 0.000 0.003 0.001 -0.005 0.005 -1.42 1.54 3 1 Optimization iteration 4 of 5 Segment 1 of 6 Time range: 65.99799 to 66.49319 Index range: 1 through 143 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 144 -0.000 0.009 0.001 -0.028 0.021 -3.00 2.32 134 11 2 144 -0.000 0.014 0.001 -0.045 0.028 -3.25 2.05 43 26 Segment 2 of 6 Time range: 67.78934 to 82.58101 Index range: 145 through 4404 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4260 -0.113 0.005 0.000 -0.135 -0.089 -4.57 4.72 1637 1038 2 4260 -0.000 0.007 0.000 -0.062 0.077 -8.52 10.60 1034 1038 Segment 3 of 6 Time range: 82.63655 to 89.16610 Index range: 4421 through 6301 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1881 0.000 0.005 0.000 -0.046 0.056 -8.94 10.77 80 79 2 1881 -0.000 0.004 0.000 -0.031 0.067 -6.98 15.02 1688 1691 Segment 4 of 6 Time range: 90.45023 to 91.56920 Index range: 6303 through 6625 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 323 0.000 0.005 0.000 -0.025 0.023 -5.28 4.76 292 290 2 323 0.000 0.005 0.000 -0.028 0.028 -5.66 5.74 292 290 Segment 5 of 6 Time range: 92.97567 to 99.15622 Index range: 6627 through 8406 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1781 0.085 0.005 0.000 0.068 0.107 -3.16 4.26 1208 1170 2 1781 0.001 0.005 0.000 -0.022 0.029 -4.58 5.54 1770 1170 Segment 6 of 6 Time range: 99.18747 to 99.20485 Index range: 8416 through 8420 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 -0.000 0.006 0.003 -0.008 0.006 -1.35 1.10 2 3 2 5 0.000 0.003 0.001 -0.005 0.005 -1.42 1.54 3 1 Optimization iteration 5 of 5 Segment 1 of 6 fix time dx dy (1.e-5 degrees) Segment 1 of 6 Time range: 65.99799 to 66.49319 Index range: 1 through 143 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 144 0.000 0.009 0.001 -0.028 0.021 -3.00 2.32 134 11 2 144 0.000 0.014 0.001 -0.045 0.028 -3.25 2.05 43 26 Segment 2 of 6 fix time dx dy (1.e-5 degrees) 71.37962 -13 -62 71.38308 -8 -50 71.39351 21 77 Segment 2 of 6 Time range: 67.78934 to 82.58101 Index range: 145 through 4404 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 4260 -0.003 0.005 0.000 -0.025 0.021 -4.19 4.62 1637 1038 2 4260 -0.000 0.007 0.000 -0.062 0.077 -8.52 10.60 1034 1038 Segment 3 of 6 fix time dx dy (1.e-5 degrees) 82.91432 56 1 88.51156 53 67 Segment 3 of 6 Time range: 82.63655 to 89.16610 Index range: 4421 through 6301 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1881 0.000 0.005 0.000 -0.046 0.056 -8.93 10.77 80 79 2 1881 -0.000 0.004 0.000 -0.031 0.067 -6.98 15.02 1688 1691 Segment 4 of 6 fix time dx dy (1.e-5 degrees) Segment 4 of 6 Time range: 90.45023 to 91.56920 Index range: 6303 through 6625 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 323 -0.000 0.005 0.000 -0.025 0.023 -5.28 4.76 292 290 2 323 -0.000 0.005 0.000 -0.028 0.028 -5.66 5.74 292 290 Segment 5 of 6 fix time dx dy (1.e-5 degrees) Segment 5 of 6 Time range: 92.97567 to 99.15622 Index range: 6627 through 8406 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 1781 -0.000 0.005 0.000 -0.017 0.022 -3.18 4.27 1208 1170 2 1781 -0.000 0.005 0.000 -0.023 0.028 -4.58 5.54 1770 1170 Segment 6 of 6 fix time dx dy (1.e-5 degrees) Segment 6 of 6 Time range: 99.18747 to 99.20485 Index range: 8416 through 8420 Statistics for fix (scaled by 0.010000) x, y N MEAN STD DEV SEM minimum maximum min/sd max/sd imin imax 1 5 0.000 0.006 0.003 -0.008 0.006 -1.35 1.10 2 3 2 5 -0.000 0.003 0.001 -0.005 0.005 -1.42 1.54 3 1 seg i0 i1 n nfix 1 1 144 143 144 2 145 4405 4260 4260 3 4421 6302 1881 1881 4 6303 6626 323 323 5 6627 8407 1780 1781 6 8416 8421 5 5 seg t0 t1 x0 x1 y0 y1 stdx stdy n_fix 1 65.99799 66.49319 -79.2368 -76.6461 26.2156 25.6379 9 15 144 2 67.78934 82.58101 -69.7156 -22.9999 24.6555 9.1693 6 8 4260 3 82.63655 89.16610 -23.0004 -17.7427 8.9986 -7.3756 6 5 1881 4 90.45023 91.56920 -13.0800 -8.9203 -11.1841 -14.5643 5 5 323 5 92.97567 99.15622 -3.6411 20.9183 -18.7706 -35.1710 5 6 1781 6 99.18747 99.20485 21.1020 21.2040 -35.1585 -35.1515 5 4 5